MATH: Replace Quaternion XYZ with Euler.

engines/grim/actor.cpp

@@ -2286,7 +2286,7 @@ Math::Quaternion Actor::getRotationQuat() const {
 	if (g_grim->getGameType() == GType_MONKEY4) {
 		return Math::Quaternion(getFinalMatrix()).inverse();
 	} else {
-		return Math::Quaternion::fromXYZ(_yaw, _pitch, _roll, Math::EO_ZXY).inverse();
+		return Math::Quaternion::fromEuler(_yaw, _pitch, _roll, Math::EO_ZXY).inverse();
 	}
 }
 
@@ -2433,7 +2433,7 @@ void Actor::attachToActor(Actor *parent, const char *joint) {
 	}
 
 	// Get the final rotation euler coordinates
-	newRot.getXYZ(&_roll, &_yaw, &_pitch, Math::EO_ZYX);
+	newRot.getEuler(&_roll, &_yaw, &_pitch, Math::EO_ZYX);
 
 	// Get the final position coordinates
 	_pos = _pos - parentMatrix.getPosition();
@@ -2464,7 +2464,7 @@ void Actor::detach() {
 	// Position and rotate the actor in relation to the world coords
 	setPos(getWorldPos());
 	Math::Quaternion q = getRotationQuat();
-	q.inverse().getXYZ(&_roll, &_yaw, &_pitch, Math::EO_ZYX);
+	q.inverse().getEuler(&_roll, &_yaw, &_pitch, Math::EO_ZYX);
 
 	// Remove the attached actor
 	_attachedActor = 0;

engines/grim/costume/head.cpp

@@ -146,7 +146,7 @@ void Head::Joint::orientTowards(bool entering, const Math::Vector3d &point, floa
 
 	// Assemble ypr to a quaternion.
 	// This is the head orientation with respect to parent-with-keyframe-animation space.
-	Math::Quaternion lookAtQuat = Math::Quaternion::fromXYZ(y, pt, r, Math::EO_ZXY);
+	Math::Quaternion lookAtQuat = Math::Quaternion::fromEuler(y, pt, r, Math::EO_ZXY);
 
 	_node->_animRot = _node->_animRot * lookAtQuat;
 }

engines/grim/keyframe.cpp

@@ -299,7 +299,7 @@ void KeyframeAnim::KeyframeNode::animate(ModelNode &node, float frame, float fad
 
 	node._animPos += (pos - node._pos) * fade;
 
-	Math::Quaternion rotQuat = Math::Quaternion::fromXYZ(yaw, pitch, roll, Math::EO_ZXY);
+	Math::Quaternion rotQuat = Math::Quaternion::fromEuler(yaw, pitch, roll, Math::EO_ZXY);
 	rotQuat = node._animRot * node._rot.inverse() * rotQuat;
 	node._animRot = node._animRot.slerpQuat(rotQuat, fade);
 }

engines/grim/model.cpp

@@ -631,7 +631,7 @@ void ModelNode::loadBinary(Common::SeekableReadStream *data, ModelNode *hierNode
 	_yaw = get_float(f);
 	data->read(f, 4);
 	_roll = get_float(f);
-	_rot = Math::Quaternion::fromXYZ(_yaw, _pitch, _roll, Math::EO_ZXY);
+	_rot = Math::Quaternion::fromEuler(_yaw, _pitch, _roll, Math::EO_ZXY);
 	_animPos = _pos;
 	_sprite = nullptr;
 

math/quat.cpp

@@ -184,29 +184,29 @@ Angle Quaternion::getAngleBetween(const Quaternion &to) {
 	return diff;
 }
 
-Quaternion Quaternion::fromXYZ(const Angle &rotX, const Angle &rotY, const Angle &rotZ, EulerOrder order) {
+Quaternion Quaternion::fromEuler(const Angle &first, const Angle &second, const Angle &third, EulerOrder order) {
 	// First create a matrix with the rotation
-	Matrix4 rot(rotX, rotY, rotZ, order);
+	Matrix4 rot(first, second, third, order);
 
 	// Convert this rotation matrix to a Quaternion
 	return Quaternion(rot);
 }
 
-void Quaternion::getXYZ(Angle *rotX, Angle *rotY, Angle *rotZ, EulerOrder order) {
+void Quaternion::getEuler(Angle *first, Angle *second, Angle *third, EulerOrder order) {
 	// Create a matrix from the Quaternion
 	Matrix4 rot = toMatrix();
 
 	// Convert the matrix to Euler Angles
-	Angle ex, ey, ez;
+	Angle f, s, t;
-	rot.getEuler(&ex, &ey, &ez, order);
+	rot.getEuler(&f, &s, &t, order);
 
 	// Assign the Angles if we have a reference
-	if (rotX != nullptr)
+	if (first != nullptr)
-		*rotX = ex;
+		*first = f;
-	if (rotY != nullptr)
+	if (second != nullptr)
-		*rotY = ey;
+		*second = s;
-	if (rotZ != nullptr)
+	if (third != nullptr)
-		*rotZ = ez;
+		*third = t;
 }
 
 Quaternion Quaternion::operator*(const Quaternion &o) const {

math/quat.h

@@ -114,23 +114,23 @@ public:
 
 	/**
 	 * Constructs a Quaternion from Euler Coordinates
-	 * @param x		The Euler Angle for the X Axis
+	 * @param first		The Euler Angle for the first Axis
-	 * @param y		The Euler Angle for the Y Axis
+	 * @param second	The Euler Angle for the second Axis
-	 * @param z		The Euler Angle for the Z Axis
+	 * @param third		The Euler Angle for the third Axis
 	 * @param order		The Euler Order, specified in Rotation3D
 	 * @return		The new Quaternion
 	 */
-	static Quaternion fromXYZ(const Angle &rotX, const Angle &rotY, const Angle &rotZ, EulerOrder order);
+	static Quaternion fromEuler(const Angle &first, const Angle &second, const Angle &third, EulerOrder order);
 
 	/**
 	 * Returns Euler Angles based on the Euler Order
-	 * @param x		The Euler Angle for the X Axis
+	 * @param first		The Euler Angle for the first Axis
-	 * @param y		The Euler Angle for the Y Axis
+	 * @param second	The Euler Angle for the second Axis
-	 * @param z		The Euler Angle for the Z Axis
+	 * @param third		The Euler Angle for the third Axis
 	 * @param order		The Euler Order, specified in Rotation3D
 	 * @return		The new Quaternion
 	 */
-	void getXYZ(Angle *rotX, Angle *rotY, Angle *rotZ, EulerOrder order);
+	void getEuler(Angle *first, Angle *second, Angle *third, EulerOrder order);
 
 	/**
 	 * Create a Quaternion from a rotation around the X Axis